Stability process predicate evaluation module

.gitignore

@@ -112,6 +112,4 @@ install_plugin_cad.sh
 *#
 .#*
 \#*\#
-Cube3
+out/
-sdf-generation
-p.json

asp-review-app/ui/src/features/topology_ajax_preview/topology_ajax_preview.tsx

@@ -6,7 +6,7 @@ import { HttpRepository, HttpMethod, HttpRoute } from '../../core/repository/htt
 
 export const pathAjaxTopologyScreen = '/topology/adjax/usecase/'
 export interface IAdjaxMatrix {
-    allPars: string[];
+    allParts: string[];
     firstDetail: string;
     matrix: StringMap;
     matrixError: StringMap | null;

asp/helper/xmlformatter.py

@@ -0,0 +1,877 @@
+"""
+Format and compress XML documents 
+"""
+import getopt
+import re
+import sys
+import xml.parsers.expat
+
+__version__ = "0.2.4"
+
+DEFAULT_BLANKS = False
+DEFAULT_COMPRESS = False
+DEFAULT_SELFCLOSE = False
+DEFAULT_CORRECT = True
+DEFAULT_INDENT = 2
+DEFAULT_INDENT_CHAR = " "
+DEFAULT_INLINE = True
+DEFAULT_ENCODING_INPUT = None
+DEFAULT_ENCODING_OUTPUT = None
+DEFAULT_EOF_NEWLINE = False
+
+
+class Formatter:
+    # Use internal encoding:
+    encoding_internal = None
+
+    def __init__(
+        self,
+        indent=DEFAULT_INDENT,
+        preserve=[],
+        blanks=DEFAULT_BLANKS,
+        compress=DEFAULT_COMPRESS,
+        selfclose=DEFAULT_SELFCLOSE,
+        indent_char=DEFAULT_INDENT_CHAR,
+        encoding_input=DEFAULT_ENCODING_INPUT,
+        encoding_output=DEFAULT_ENCODING_OUTPUT,
+        inline=DEFAULT_INLINE,
+        correct=DEFAULT_CORRECT,
+        eof_newline=DEFAULT_EOF_NEWLINE,
+    ):
+        # Minify the XML document:
+        self.compress = compress
+        # Use self-closing tags
+        self.selfclose = selfclose
+        # Correct text nodes
+        self.correct = correct
+        # Decode the XML document:
+        self.encoding_input = self.enc_normalize(encoding_input)
+        # Encode ouput by:
+        self.encoding_output = self.enc_normalize(encoding_output)
+        # Insert indent = indent*level*indent_char:
+        self.indent = int(indent)
+        # Indent by char:
+        self.indent_char = indent_char
+        # Format inline objects:
+        self.inline = inline
+        # Don't compress this elements and their descendants:
+        self.preserve = preserve
+        # Preserve blanks lines (collapse multiple into one)
+        self.blanks = blanks
+        # Always add a newline character at EOF
+        self.eof_newline = eof_newline
+
+    @property
+    def encoding_effective(self, enc=None):
+        if self.encoding_output:
+            return self.encoding_output
+        elif self.encoding_internal:
+            return self.encoding_internal
+        elif self.encoding_input:
+            return self.encoding_input
+        else:
+            return "UTF-8"
+
+    def enc_normalize(self, string):
+        """ Format an Encoding identifier to upper case. """
+        if isinstance(string, str):
+            return string.upper()
+        return None
+
+    def enc_encode(self, strg):
+        """ Encode a formatted XML document in target"""
+        if sys.version_info > (3, 0):
+            return strg.encode(self.encoding_effective)  # v3
+        return strg.decode("utf-8").encode(self.encoding_effective)  # v2
+
+    def enc_output(self, path, strg):
+        """ Output according to encoding """
+        fh = sys.stdout
+        if strg is not None:
+            if path is not None:
+                open(path, "w+b").write(strg)
+            elif sys.version_info > (3, 0):
+                fh.buffer.write(strg)
+            else:
+                fh.write(strg)
+
+    def format_string(self, xmldoc=""):
+        """ Format a XML document given by xmldoc """
+        token_list = Formatter.TokenList(self)
+        token_list.parser.Parse(xmldoc)
+        return self.enc_encode(str(token_list))
+
+    def format_file(self, file):
+        """ Format a XML document given by path name """
+        fh = open(file, "rb")
+        token_list = Formatter.TokenList(self)
+        token_list.parser.ParseFile(fh)
+        fh.close()
+        return self.enc_encode(str(token_list))
+
+    class TokenList:
+        # Being in a cdata section:
+        cdata_section = False
+        # Lock deletion of leading whitespace:
+        desc_mixed_level = None
+        # Lock indenting:
+        indent_level = None
+        # Reference the Formatter:
+        formatter = None
+        # Count levels:
+        level_counter = 0
+        # Lock deletion of whitespaces:
+        preserve_level = None
+
+        def __init__(self, formatter):
+            # Keep tokens in a list:
+            self._list = []
+            self.formatter = formatter
+            self.parser = xml.parsers.expat.ParserCreate(
+                encoding=self.formatter.encoding_input
+            )
+            self.parser.specified_attributes = 1
+            self.parser.buffer_text = True
+            # Push tokens to buffer:
+            for pattern in [
+                "XmlDecl%s",
+                "ElementDecl%s",
+                "AttlistDecl%s",
+                "EntityDecl%s",
+                "StartElement%s",
+                "EndElement%s",
+                "ProcessingInstruction%s",
+                "CharacterData%s",
+                "Comment%s",
+                "Default%s",
+                "StartDoctypeDecl%s",
+                "EndDoctypeDecl%s",
+                "StartCdataSection%s",
+                "EndCdataSection%s",
+                "NotationDecl%s",
+            ]:
+                setattr(
+                    self.parser, pattern % "Handler", self.xml_handler(pattern % "")
+                )
+
+        def __iter__(self):
+            return iter(self._list)
+
+        def __len__(self):
+            return len(self._list)
+
+        def __getitem__(self, pos):
+            if 0 <= pos < len(self._list):
+                return self._list[pos]
+            else:
+                raise IndexError
+
+        def __setitem__(self, pos, value):
+            if 0 <= pos < len(self._list):
+                self._list[pos] = value
+            else:
+                raise IndexError
+
+        def __str__(self):
+            """ Returns the formatted XML document in UTF-8. """
+            for step in ["configure", "pre_operate", "post_operate"]:
+                for tk in iter(self):
+                    getattr(tk, step)()
+            result = ""
+            for tk in iter(self):
+                result += str(tk)
+            if self.formatter.eof_newline and not result.endswith("\n"):
+                result += "\n"
+            return result
+
+        def append(self, tk):
+            """ Add token to tokenlist. """
+            tk.pos = len(self._list)
+            self._list.append(tk)
+
+        def level_increment(self):
+            """ Increment level counter. """
+            self.level_counter += 1
+
+        def level_decrement(self):
+            """ Decrement level counter. """
+            self.level_counter -= 1
+
+        def token_descendant_mixed(self, tk):
+            """ Mark descendants of mixed content. """
+            if tk.name == "StartElement":
+                # Mark every descendant:
+                if tk.content_model in [2, 3] and self.desc_mixed_level is None:
+                    self.desc_mixed_level = tk.level
+                    return False
+                return self.desc_mixed_level is not None
+            elif tk.name == "EndElement":
+                # Stop marking every descendant:
+                if tk.level is self.desc_mixed_level:
+                    self.desc_mixed_level = None
+                elif self.desc_mixed_level is not None:
+                    return True
+                return False
+            elif self.desc_mixed_level is None:
+                return False
+            return self.desc_mixed_level >= tk.level - 1
+
+        def sequence(self, tk, scheme=None):
+            """Returns sublist of token list.
+            None: next to last
+            EndElement: first to previous"""
+            if scheme == "EndElement" or (scheme is None and tk.end):
+                return reversed(self._list[: tk.pos])
+            return self._list[(tk.pos + 1) :]
+
+        def token_indent(self, tk):
+            if self.formatter.inline:
+                return self.token_indent_inline(tk)
+            """ Indent outside of text of mixed content. """
+            if tk.name == "StartElement":
+                # Block indenting for descendants of text and mixed content:
+                if tk.content_model in [2, 3] and self.indent_level is None:
+                    self.indent_level = tk.level
+                elif self.indent_level is not None:
+                    return False
+                return True
+            elif tk.name == "EndElement":
+                # Unblock indenting for descendants of text and mixed content:
+                if tk.level == self.indent_level:
+                    self.indent_level = None
+                elif self.indent_level is None:
+                    return True
+                return False
+            return self.indent_level is None
+
+        def token_indent_inline(self, tk):
+            """ Indent every element content - no matter enclosed by text or mixed content. """
+            for itk in iter(self.sequence(tk, "EndElement")):
+                if itk.level < tk.level and itk.name == "StartElement":
+                    if itk.content_model == 1:
+                        return True
+                    return False
+                if (
+                    itk.level == tk.level
+                    and tk.name == "EndElement"
+                    and itk.name == "StartElement"
+                ):
+                    if itk.content_model == 1:
+                        return True
+                    return False
+            return True
+
+        def token_model(self, tk):
+            """Returns code for content model.
+            0: empty
+            1: element
+            2: text
+            3: mixed"""
+            eflag = tflag = 0
+            for itk in iter(self.sequence(tk)):
+                # Element boundary found:
+                if itk.level <= tk.level:
+                    break
+                # Direct child found:
+                elif (itk.level - 1) == tk.level:
+                    if itk.start:
+                        eflag = 1
+                    elif itk.not_empty:
+                        tflag = 2
+            return eflag + tflag
+
+        def token_preserve(self, tk):
+            """Preseve eyery descendant of an preserved element.
+            0: not locked
+            1: just (un)locked
+            2: locked"""
+            # Lock perserving for StartElements:
+            if tk.name == "StartElement":
+                if self.preserve_level is not None:
+                    return 2
+                if tk.arg[0] in self.formatter.preserve:
+                    self.preserve_level = tk.level
+                    return 1
+                return 0
+            # Unlock preserving for EndElements:
+            elif tk.name == "EndElement":
+                if (
+                    tk.arg[0] in self.formatter.preserve
+                    and tk.level == self.preserve_level
+                ):
+                    self.preserve_level = None
+                    return 1
+                elif self.preserve_level is None:
+                    return 0
+                return 2
+            return self.preserve_level is not None
+
+        def whitespace_append_trailing(self, tk):
+            """ Add a trailing whitespace to previous character data. """
+            if self.formatter.correct and tk.leading and tk.not_empty:
+                self.whitespace_append(tk, "EndElement", "StartElement", True)
+
+        def whitespace_append_leading(self, tk):
+            """ Add a leading whitespace to previous character data. """
+            if self.formatter.correct and tk.trailing and tk.not_empty:
+                self.whitespace_append(tk)
+
+        def whitespace_append(
+            self, tk, start="StartElement", stop="EndElement", direct=False
+        ):
+            """ Add a whitspace to token list. """
+            for itk in self.sequence(tk, start):
+                if (
+                    itk.empty
+                    or (itk.name == stop and itk.descendant_mixed is False)
+                    or (itk.name == start and abs(tk - itk) == 1)
+                ):
+                    break
+                elif itk.not_empty or (itk.name == start and itk.descendant_mixed):
+                    self.insert_empty(itk, direct)
+                    break
+
+        def whitespace_delete_leading(self, tk):
+            """ Returns True, if no next token or all empty (up to next end element)"""
+            if (
+                self.formatter.correct
+                and tk.leading
+                and not tk.preserve
+                and not tk.cdata_section
+            ):
+                for itk in self.sequence(tk, "EndElement"):
+                    if itk.trailing:
+                        return True
+                    elif itk.name in ["EndElement", "CharacterData", "EndCdataSection"]:
+                        return False
+                return True
+            return False
+
+        def whitespace_delete_trailing(self, tk):
+            """Returns True, if no next token or all empty (up to next end element)"""
+            if (
+                self.formatter.correct
+                and tk.trailing
+                and not tk.preserve
+                and not tk.cdata_section
+            ):
+                for itk in self.sequence(tk, "StartElement"):
+                    if itk.end:
+                        return True
+                    elif (
+                        itk.name in ["StartElement", "StartCdataSection"]
+                        or itk.not_empty
+                    ):
+                        return False
+                return True
+            return False
+
+        def insert_empty(self, tk, before=True):
+            """ Insert an Empty Token into token list - before or after tk. """
+            if not (0 < tk.pos < (len(self) - 1)):
+                return False
+            ptk = self[tk.pos - 1]
+            ntk = self.formatter.CharacterData(self, [" "])
+            ntk.level = max(ptk.level, tk.level)
+            ntk.descendant_mixed = tk.descendant_mixed
+            ntk.preserve = ptk.preserve * tk.preserve
+            ntk.cdata_section = ptk.cdata_section or tk.cdata_section
+            if before:
+                self._list.insert(tk.pos + 1, ntk)
+            else:
+                self._list.insert(tk.pos, ntk)
+            for i in range((tk.pos - 1), len(self._list)):
+                self._list[i].pos = i
+
+        def xml_handler(self, key):
+            """ Returns lambda function which adds token to token list"""
+            return lambda *arg: self.append(getattr(self.formatter, key)(self, arg))
+
+    class Token(object):
+        def __init__(self, tklist, arg):
+            # Reference Token List:
+            self.list = tklist
+            # Token datas:
+            self.arg = list(arg)
+            # Token is placed in an CDATA section:
+            self.cdata_section = False
+            # Token has content model:
+            self.content_model = None
+            # Remove trailing wihtespaces:
+            self.delete_trailing = False
+            # Remove leading whitespaces:
+            self.delete_leading = False
+            # Token is descendant of text or mixed content element:
+            self.descendant_mixed = False
+            # Reference to formatter:
+            self.formatter = tklist.formatter
+            # Insert indenting white spaces:
+            self.indent = False
+            # N-th generation of roots descendants:
+            self.level = self.list.level_counter
+            # Token class:
+            self.name = self.__class__.__name__
+            # Preserve white spaces within enclosed tokens:
+            self.preserve = False
+            # Position in token list:
+            self.pos = None
+
+        def __sub__(self, other):
+            return self.pos - other.pos
+
+        def __unicode__(self):
+            return ""
+
+        # Workaround, see http://lucumr.pocoo.org/2011/1/22/forwards-compatible-python/:
+        if sys.version_info > (3, 0):
+            __str__ = lambda x: x.__unicode__()
+        else:
+            __str__ = lambda x: unicode(x).encode("utf-8")
+
+        @property
+        def end(self):
+            return self.name == "EndElement"
+
+        @property
+        def empty(self):
+            return self.name == "CharacterData" and re.match(
+                r"^[\t\s\n]*$", self.arg[0]
+            )
+
+        @property
+        def leading(self):
+            return self.name == "CharacterData" and re.search(
+                r"^[\t\s\n]+", self.arg[0]
+            )
+
+        @property
+        def not_empty(self):
+            return (
+                self.name == "CharacterData"
+                and not self.cdata_section
+                and not re.match(r"^[\t\s\n]+$", self.arg[0])
+            )
+
+        @property
+        def trailing(self):
+            return self.name == "CharacterData" and re.search(
+                r"[\t\s\n]+$", self.arg[0]
+            )
+
+        @property
+        def start(self):
+            return self.name == "StartElement"
+
+        @property
+        def correct(self):
+            return self.formatter.correct
+
+        def attribute(self, key, value):
+            if key and value:
+                return ' %s="%s"' % (key, value)
+            elif key:
+                return ' %s=""' % (key)
+            return ""
+
+        def indent_insert(self):
+            """ Indent token. """
+            # Child of root and no empty node
+            if (
+                self.level > 0 and not (self.end and self.list[self.pos - 1].start)
+            ) or (  # not empty node:
+                self.end and not self.list[self.pos - 1].start
+            ):
+                return self.indent_create(self.level)
+            return ""
+
+        def indent_create(self, times=1):
+            """ Returns indent string. """
+            if not self.formatter.compress and self.formatter.indent:
+                return "\n%s" % (
+                    (times * self.formatter.indent) * self.formatter.indent_char
+                )
+            return ""
+
+        def identifier(self, systemid, publicid):
+            # TODO add base parameter:
+            if publicid and systemid:
+                return ' PUBLIC "%s" "%s"' % (publicid, systemid)
+            elif publicid:
+                return ' PUBLIC "%s"' % publicid
+            elif systemid:
+                return ' SYSTEM "%s"' % systemid
+            return ""
+
+        def configure(self):
+            """ Set token properties. """
+            self.descendant_mixed = self.list.token_descendant_mixed(self)
+            self.preserve = self.list.token_preserve(self)
+            self.cdata_section = self.list.cdata_section
+
+        def pre_operate(self):
+            pass
+
+        def post_operate(self):
+            pass
+
+    class AttlistDecl(Token):
+        def __unicode__(self):
+            str = self.indent_create()
+            str += "<!ATTLIST %s %s" % (self.arg[0], self.arg[1])
+            if self.arg[2] is not None:
+                str += " %s" % self.arg[2]
+            if self.arg[4] and not self.arg[3]:
+                str += " #REQUIRED"
+            elif self.arg[3] and self.arg[4]:
+                str += " #FIXED"
+            elif not self.arg[4] and not self.arg[3]:
+                str += " #IMPLIED"
+            if self.arg[3]:
+                str += ' "%s"' % self.arg[3]
+            str += ">"
+            return str
+
+    class CharacterData(Token):
+        def __unicode__(self):
+            str = self.arg[0]
+            if not self.preserve and not self.cdata_section:
+                # remove empty tokens always in element content!
+                if self.empty and not self.descendant_mixed:
+                    if self.formatter.blanks and not self.formatter.compress and re.match(r"\s*\n\s*\n\s*", str):
+                        str = "\n"
+                    else:
+                        str = ""
+                else:
+                    if self.correct:
+                        str = re.sub(r"\r\n", "\n", str)
+                        str = re.sub(r"\r|\n|\t", " ", str)
+                        str = re.sub(r"\s+", " ", str)
+                    if self.delete_leading:
+                        str = re.sub(r"^\s", "", str)
+                    if self.delete_trailing:
+                        str = re.sub(r"\s$", "", str)
+            if not self.cdata_section:
+                str = re.sub(r"&", "&amp;", str)
+                str = re.sub(r"<", "&lt;", str)
+            return str
+
+        def pre_operate(self):
+            self.list.whitespace_append_trailing(self)
+            self.list.whitespace_append_leading(self)
+
+        def post_operate(self):
+            self.delete_leading = self.list.whitespace_delete_leading(self)
+            self.delete_trailing = self.list.whitespace_delete_trailing(self)
+
+    class Comment(Token):
+        def __unicode__(self):
+            str = ""
+            if self.preserve in [0, 1] and self.indent:
+                str += self.indent_insert()
+            str += "<!--%s-->" % re.sub(
+                r"^[\r\n]+$", "\n", re.sub(r"^[\r\n]+", "\n", self.arg[0])
+            )
+            return str
+
+        def configure(self):
+            super(Formatter.Comment, self).configure()
+            self.indent = self.list.token_indent(self)
+
+    class Default(Token):
+        pass
+
+    class EndCdataSection(Token):
+        def __unicode__(self):
+            return "]]>"
+
+        def configure(self):
+            self.list.cdata_section = False
+
+    class ElementDecl(Token):
+        def __unicode__(self):
+            str = self.indent_create()
+            str += "<!ELEMENT %s%s>" % (self.arg[0], self.evaluate_model(self.arg[1]))
+            return str
+
+        def evaluate_model(self, model, modelStr="", concatStr=""):
+            childSeq = []
+            mixed = model[0] == xml.parsers.expat.model.XML_CTYPE_MIXED
+            hasChilds = len(model[3]) or mixed
+            if model[0] == xml.parsers.expat.model.XML_CTYPE_EMPTY:  # 1
+                modelStr += " EMPTY"
+            elif model[0] == xml.parsers.expat.model.XML_CTYPE_ANY:  # 2
+                modelStr += " ANY"
+            elif model[0] == xml.parsers.expat.model.XML_CTYPE_NAME:  # 4
+                modelStr = "%s" % model[2]  # new start
+            elif model[0] in (
+                xml.parsers.expat.model.XML_CTYPE_CHOICE,
+                xml.parsers.expat.model.XML_CTYPE_MIXED,
+            ):  # 5
+                concatStr = "|"
+            elif model[0] == xml.parsers.expat.model.XML_CTYPE_SEQ:  # 6
+                concatStr = ","
+            if hasChilds:
+                modelStr += " ("
+            if mixed:
+                childSeq.append("#PCDATA")
+            for child in model[3]:
+                childSeq.append(self.evaluate_model(child))
+            modelStr += concatStr.join(childSeq)
+            if hasChilds:
+                modelStr += ")"
+            modelStr += {
+                xml.parsers.expat.model.XML_CQUANT_NONE: "",
+                xml.parsers.expat.model.XML_CQUANT_OPT: "?",
+                xml.parsers.expat.model.XML_CQUANT_PLUS: "+",
+                xml.parsers.expat.model.XML_CQUANT_REP: "*",
+            }[model[1]]
+            return modelStr
+
+    class EndDoctypeDecl(Token):
+        def __unicode__(self):
+            str = ""
+            if self.list[self.pos - 1].name != "StartDoctypeDecl":
+                str += self.indent_create(0)
+                str += "]"
+            str += ">"
+            str += self.indent_create(0)
+            return str
+
+    class EndElement(Token):
+        def __init__(self, list, arg):
+            list.level_decrement()
+            super(Formatter.EndElement, self).__init__(list, arg)
+
+        def __unicode__(self):
+            str = ""
+            # Don't close empty nodes on compression mode:
+            if (
+                not (self.formatter.compress or self.formatter.selfclose)
+                or self.list[self.pos - 1].name != "StartElement"
+            ):
+                if self.preserve in [0] and self.indent:
+                    str += self.indent_insert()
+                str += "</%s>" % self.arg[0]
+            return str
+
+        def configure(self):
+            self.descendant_mixed = self.list.token_descendant_mixed(self)
+            self.preserve = self.list.token_preserve(self)
+            self.indent = self.list.token_indent(self)
+
+    class EntityDecl(Token):
+        def __unicode__(self):
+            str = self.indent_create()
+            str += "<!ENTITY "
+            if self.arg[1]:
+                str += "% "
+            str += "%s " % self.arg[0]
+            if self.arg[2]:
+                str += '"%s"' % self.arg[2]
+            else:
+                str += "%s " % self.identifier(self.arg[4], self.arg[5])
+                if self.arg[6]:
+                    str += "NDATA %s" % self.arg[6]
+            str += ">"
+            return str
+
+    class NotationDecl(Token):
+        def __unicode__(self):
+            str = self.indent_create()
+            str += "<!NOTATION %s%s>" % (
+                self.arg[0],
+                self.identifier(self.arg[2], self.arg[3]),
+            )
+            return str
+
+    class ProcessingInstruction(Token):
+        def __unicode__(self):
+            str = ""
+            if self.preserve in [0, 1] and self.indent:
+                str += self.indent_insert()
+            str += "<?%s %s?>" % (self.arg[0], self.arg[1])
+            return str
+
+        def configure(self):
+            super(Formatter.ProcessingInstruction, self).configure()
+            self.indent = self.list.token_indent(self)
+
+    class StartCdataSection(Token):
+        def __unicode__(self):
+            return "<![CDATA["
+
+        def configure(self):
+            self.list.cdata_section = True
+
+    class StartDoctypeDecl(Token):
+        def __unicode__(self):
+            str = "<!DOCTYPE %s" % (self.arg[0])
+            if self.arg[1]:
+                str += self.identifier(self.arg[1], self.arg[2])
+            if self.arg[3]:
+                str += " ["
+            return str
+
+    class StartElement(Token):
+        def __init__(self, list, arg):
+            super(Formatter.StartElement, self).__init__(list, arg)
+            self.list.level_increment()
+
+        def __unicode__(self):
+            str = ""
+            if self.preserve in [0, 1] and self.indent:
+                str += self.indent_insert()
+            str += "<%s" % self.arg[0]
+            for attr in sorted(self.arg[1].keys()):
+                str += self.attribute(attr, self.arg[1][attr])
+            if self.list[self.pos + 1].end and (self.formatter.compress or self.formatter.selfclose):
+                str += "/>"
+            else:
+                str += ">"
+            return str
+
+        def configure(self):
+            self.content_model = self.list.token_model(self)
+            self.descendant_mixed = self.list.token_descendant_mixed(self)
+            self.preserve = self.list.token_preserve(self)
+            self.indent = self.list.token_indent(self)
+
+    class XmlDecl(Token):
+        def __init__(self, list, arg):
+            super(Formatter.XmlDecl, self).__init__(list, arg)
+            if len(self.arg) > 1:
+                self.formatter.encoding_internal = self.arg[1]
+
+        def __unicode__(self):
+            str = "<?xml%s%s" % (
+                self.attribute("version", self.arg[0]),
+                self.attribute("encoding", self.formatter.encoding_effective),
+            )
+            if self.arg[2] > -1:
+                str += self.attribute("standalone", "yes")
+            str += "?>\n"
+            return str
+
+
+def cli_usage(msg=""):
+    """ Output usage for command line tool. """
+    sys.stderr.write(msg + "\n")
+    sys.stderr.write(
+        'Usage: xmlformat [--preserve "pre,literal"] [--blanks]\
+ [--compress] [--selfclose] [--indent num] [--indent-char char]\
+ [--outfile file] [--encoding enc] [--outencoding enc]\
+ [--disable-inlineformatting] [--overwrite] [--disable-correction]\
+ [--eof-newline]\
+ [--help] <--infile file | file | - >\n'
+    )
+    sys.exit(2)
+
+
+def cli():
+    """ Launch xmlformatter from command line. """
+    res = None
+    indent = DEFAULT_INDENT
+    indent_char = DEFAULT_INDENT_CHAR
+    outfile = None
+    overwrite = False
+    preserve = []
+    blanks = False
+    compress = DEFAULT_COMPRESS
+    selfclose = DEFAULT_SELFCLOSE
+    infile = None
+    encoding = DEFAULT_ENCODING_INPUT
+    outencoding = DEFAULT_ENCODING_OUTPUT
+    inline = DEFAULT_INLINE
+    correct = DEFAULT_CORRECT
+    eof_newline = DEFAULT_EOF_NEWLINE
+    try:
+        opts, args = getopt.getopt(
+            sys.argv[1:],
+            "",
+            [
+                "compress",
+                "selfclose",
+                "disable-correction",
+                "disable-inlineformatting",
+                "encoding=",
+                "help",
+                "infile=",
+                "indent=",
+                "indent-char=",
+                "outfile=",
+                "outencoding=",
+                "overwrite",
+                "preserve=",
+                "blanks",
+                "eof-newline"
+            ],
+        )
+    except getopt.GetoptError as err:
+        cli_usage(str(err))
+    for key, value in opts:
+        if key in ["--indent"]:
+            indent = value
+        elif key in ["--preserve"]:
+            preserve = value.replace(",", " ").split()
+        elif key in ["--blanks"]:
+            blanks = True
+        elif key in ["--help"]:
+            cli_usage()
+        elif key in ["--compress"]:
+            compress = True
+        elif key in ["--selfclose"]:
+            selfclose = True
+        elif key in ["--outfile"]:
+            outfile = value
+        elif key in ["--infile"]:
+            infile = value
+        elif key in ["--encoding"]:
+            encoding = value
+        elif key in ["--outencoding"]:
+            outencoding = value
+        elif key in ["--indent-char"]:
+            indent_char = value
+        elif key in ["--disable-inlineformatting"]:
+            inline = False
+        elif key in ["--disable-correction"]:
+            correct = False
+        elif key in ["--overwrite"]:
+            overwrite = True
+        elif key in ["--eof-newline"]:
+            eof_newline = True
+    try:
+        formatter = Formatter(
+            indent=indent,
+            preserve=preserve,
+            blanks=blanks,
+            compress=compress,
+            selfclose=selfclose,
+            encoding_input=encoding,
+            encoding_output=outencoding,
+            indent_char=indent_char,
+            inline=inline,
+            correct=correct,
+            eof_newline=eof_newline,
+        )
+        input_file = None
+        if infile:
+            input_file = infile
+            res = formatter.format_file(input_file)
+        elif len(args) > 0:
+            if args[0] == "-":
+                res = formatter.format_string("".join(sys.stdin.readlines()))
+            else:
+                input_file = args[0]
+                res = formatter.format_file(input_file)
+
+    except xml.parsers.expat.ExpatError as err:
+        cli_usage("XML error: %s" % err)
+    except IOError as err:
+        cli_usage("IO error: %s" % err)
+    except:
+        cli_usage("Unkonwn error")
+
+    if overwrite:
+        formatter.enc_output(input_file, res)
+    else:
+        formatter.enc_output(outfile, res)

asp/main.py

@@ -7,7 +7,6 @@ from src.usecases.sdf_sub_assembly_usecase import SdfSubAssemblyUseCase
 
 import os
 
-
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
     parser.add_argument('--generationFolder', help='FreeCad generation folder')
@@ -27,8 +26,8 @@ if __name__ == "__main__":
     for el in geometryFiles:
         geometryModels.append(GeometryModel.from_dict(
             FS.readJSON(args.generationFolder + '/assets/' + el)))
-    if os.path.exists(outPath + 'sdf-generation/'):
+    # if os.path.exists(outPath + 'sdf-generation/'):
-        shutil.rmtree(path=outPath + 'sdf-generation/')
+    #     shutil.rmtree(path=outPath + 'sdf-generation/')
 
     if (args.format == 'sdf'):
         SdfSubAssemblyUseCase().call(

asp/mocks/urdf/model.urdf

@@ -15,7 +15,7 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="{stl}" scale="1 1 1" />
+        <mesh filename="{stl}" scale="0.001 0.001 0.001" />
       </geometry>
       <material name="white">
         <color rgba="1. 1. 1. 1." />
@@ -23,14 +23,14 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="{stl}" scale="1 1 1" />
+        <mesh filename="{stl}" scale="0.001 0.001 0.001" />
       </geometry>
     </collision>
     <friction>
       <ode>
-        <mu>0.2</mu> 
+        <mu>0.2</mu>
-        <mu2>0.1</mu2> 
+        <mu2>0.1</mu2>
-        <fdir1>1 0 0</fdir1>  
+        <fdir1>1 0 0</fdir1>
       </ode>
     </friction>
   </link>

asp/src/model/sdf_geometry.py

@@ -30,6 +30,9 @@ def to_class(c, x):
     return x.to_dict()
 
 
+DELIMITER_SCALE = 10000
+
+
 class GeometryModel:
     def __init__(self, name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, link, friction, centerMassX, centerMassY, centerMassZ):
         self.name = name

asp/src/usecases/formatter_usecase.py

@@ -1,10 +1,10 @@
+from helper.xmlformatter import Formatter
 from src.model.enum import Enum
 from helper.fs import FS
-import xmlformatter 
+ 
-
 class FormatterUseCase:
     def call(outPath: str,   format: str):
-        formatter = xmlformatter(
+        formatter = Formatter(
             indent="1", indent_char="\t", encoding_output="ISO-8859-1", preserve=["literal"])
 
         files = FS.readFilesTypeFolder(

asp/src/usecases/urdf_sub_assembly_usecase.py

@@ -1,16 +1,11 @@
-from typing import Optional
 from helper.fs import FS
 from src.model.enum import Enum
 from src.model.asm import Assembly
 from src.model.sdf_geometry import GeometryModel
-from helper.fs import filterModels, listGetFirstValue
 import json
 import re
 
 
- 
-
-
 URDF_FILE_FORMAT = '.urdf'
 URDF_GENERATOR_FILE = 'urdf-generation' + '.json'
 
@@ -19,6 +14,6 @@ class UrdfSubAssemblyUseCase(Assembly):
         dirPath = generationFolder + Enum.folderPath
         asm = {}
         for el in geometryModels:
-            asm[el.name] = el.toUrdf()        
+            asm[el.name] = el.toUrdf()
         FS.writeFile(data=json.dumps(asm,indent=4),
                      fileName=URDF_GENERATOR_FILE, filePath=dirPath)

cad_generation/env.json

@@ -1,6 +1,6 @@
 {
-    "doc": "/home/idontsudo/t/framework/asp-review-app/server/public/cubes/cubes.FCStd",
+    "doc": "/home/idontsudo/framework/asp/out/disk_and_axis_n.FCStd",
-    "out": "/home/idontsudo/t/framework/cad_generation",
+    "out": "/home/idontsudo/framework/asp/out",
     "resultURL": "http://localhost:3002/assembly/save/out",
     "projectId": "cubes"
 }

cad_generation/scenarios/robossembler_freecad_export_scenario.py

@@ -36,9 +36,9 @@ class RobossemblerFreeCadExportScenario:
         self.geometry(directory)
         ExportAssemblyThemAllUseCase().call(directoryExport)         
         
-        shutil.make_archive(directory, 'zip', directory)
+        # shutil.make_archive(directory, 'zip', directory)
 
-        shutil.rmtree(directory)
+        # shutil.rmtree(directory)
         return True
 
     def geometry(self, outPutsPath: str):

cad_generation/usecases/get_sdf_geometry_usecase.py

@@ -1,38 +1,41 @@
 import FreeCAD as App
 from model.sdf_geometry_model import SdfGeometryModel
- 
+
 from helper.is_solid import is_object_solid
 
 
 class SdfGeometryUseCase:
-    ShapePropertyCheck = ['Mass','MatrixOfInertia','Placement', ]
+    ShapePropertyCheck = ['Mass', 'MatrixOfInertia', 'Placement', ]
     PartPropertyCheck = ['Shape']
-    def call(self, stlPaths:dict) -> list[SdfGeometryModel]:
+
+    def call(self, stlPaths: dict) -> list[SdfGeometryModel]:
         materialSolid = {}
         for el in App.ActiveDocument.Objects:
-            if str(el) == '<App::MaterialObjectPython object>':   
+            if str(el) == '<App::MaterialObjectPython object>':
                 friction = el.Material.get('SlidingFriction')
                 for i in el.References:
                     materialSolid[i[0].Label] = friction
         geometry = []
         try:
             for el in App.ActiveDocument.Objects:
+
                 if is_object_solid(el):
                     mass = el.Shape.Mass
                     inertia = el.Shape.MatrixOfInertia
                     pos = el.Shape.Placement
                     inertia = el.Shape.MatrixOfInertia
                     name = el.Label
-                    ixx = str(inertia.A11 / 1000000)
+                    delimiter = 1000000
-                    ixy = str(inertia.A12 / 1000000)
+                    ixx = str(inertia.A11 / delimiter)
-                    ixz = str(inertia.A13 / 1000000)
+                    ixy = str(inertia.A12 / delimiter)
-                    iyy = str(inertia.A22 / 1000000)
+                    ixz = str(inertia.A13 / delimiter)
-                    iyz = str(inertia.A23 / 1000000)
+                    iyy = str(inertia.A22 / delimiter)
-                    izz = str(inertia.A33 / 1000000)
+                    iyz = str(inertia.A23 / delimiter)
-                    massSDF = str(mass / 1000000)
+                    izz = str(inertia.A33 / delimiter)
-                    posX = str(pos.Base[0] / 1000000)
+                    massSDF = str(mass / delimiter)
-                    posY = str(pos.Base[1] / 1000000)
+                    posX = str(pos.Base[0] / delimiter)
-                    posZ = str(pos.Base[2] / 1000000)
+                    posY = str(pos.Base[1] / delimiter)
+                    posZ = str(pos.Base[2] / delimiter)
                     eulerX = str(pos.Rotation.toEuler()[0])
                     eulerY = str(pos.Rotation.toEuler()[1])
                     eulerZ = str(pos.Rotation.toEuler()[2])
@@ -42,10 +45,10 @@ class SdfGeometryUseCase:
                     geometry.append(
                         SdfGeometryModel(
                             stl=stlPaths.get(el.Label),
-                            name=name, 
+                            name=name,
                             ixx=ixx,
-                            ixz=ixz, 
+                            ixz=ixz,
-                            ixy=ixy, 
+                            ixy=ixy,
                             iyy=iyy,
                             iyz=iyz,
                             izz=izz,
@@ -53,8 +56,8 @@ class SdfGeometryUseCase:
                             posX=posX,
                             posY=posY,
                             posZ=posZ,
-                            eulerX=eulerX, 
+                            eulerX=eulerX,
-                            eulerY=eulerY, 
+                            eulerY=eulerY,
                             eulerZ=eulerZ,
                             friction=materialSolid.get(el.Label) or '',
                             centerMassX=centerMassX,
@@ -64,10 +67,4 @@ class SdfGeometryUseCase:
                     )
         except Exception as e:
             print(e)
-            
         return geometry
-
- 
- 
-
-

cad_stability_check/.gitignore

@@ -92,4 +92,5 @@ ENV/
 
 # Rope project settings
 .ropeproject
-env.json
+env.json
+out/

cad_stability_check/main.py

@@ -1,15 +1,266 @@
 # Алгоритм генерации графа с помощью оценки стабильности подсборок в физическом движке PyBullet
+from typing import Any, TypeVar, Type, cast
 import FreeCAD as App
 import json
-import re
+import importOBJ
-from pyquaternion import Quaternion
+import FreeCAD as App
+import Draft
+import os
+import Part
+import numpy as np
+from typing import TypeAlias
+import FreeCADGui as Gui
+
+ISequencesUnion: TypeAlias = dict[str:dict[str:list[str]]]
 
 
-def importObjAtPath(path: str):
+def importObjAtPath(path: str, inc: int):
-    import importOBJ
     importOBJ.insert(u"" + path, App.ActiveDocument.Label)
 
-    pass
+    mesh = App.ActiveDocument.Objects[inc]
+    shape = Part.Shape()
+    shape.makeShapeFromMesh(mesh.Mesh.Topology, 0.05)
+    solid = Part.makeSolid(shape)
+    Part.show(solid)
+    App.ActiveDocument.Objects[inc +
+                               1].Label = App.ActiveDocument.Objects[inc].Name
+    App.ActiveDocument.removeObject(App.ActiveDocument.Objects[inc].Name)
+    return App.ActiveDocument.Objects[inc]
+
+
+T = TypeVar("T")
+
+
+def from_float(x: Any) -> float:
+    assert isinstance(x, (float, int)) and not isinstance(x, bool)
+    return float(x)
+
+
+def to_float(x: Any) -> float:
+    assert isinstance(x, float)
+    return x
+
+
+def from_str(x: Any) -> str:
+    assert isinstance(x, str)
+    return x
+
+
+def to_class(c: Type[T], x: Any) -> dict:
+    assert isinstance(x, c)
+    return cast(Any, x).to_dict()
+
+
+def euler_to_quaternion(yaw, pitch, roll):
+
+    qx = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - \
+        np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
+    qy = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + \
+        np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2)
+    qz = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - \
+        np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2)
+    qw = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + \
+        np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
+
+    return [qx, qy, qz, qw]
+
+
+class Coords:
+    x: float
+    y: float
+    z: float
+
+    def __init__(self, x: float, y: float, z: float) -> None:
+        self.x = x
+        self.y = y
+        self.z = z
+
+    @staticmethod
+    def from_dict(obj: Any) -> 'Coords':
+        assert isinstance(obj, dict)
+        x = from_float(obj.get("x"))
+        y = from_float(obj.get("y"))
+        z = from_float(obj.get("z"))
+        return Coords(x, y, z)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        result["x"] = to_float(self.x)
+        result["y"] = to_float(self.y)
+        result["z"] = to_float(self.z)
+        return result
+
+    def vector(self):
+        return App.Vector(self.x, self.y, self.z)
+
+
+class MotionResultModel:
+    id: str
+    euler: Coords
+    position: Coords
+
+    def __init__(self, id: str, euler: Coords, position: Coords) -> None:
+        self.id = id
+        self.euler = euler
+        self.position = position
+
+    @staticmethod
+    def from_dict(obj: Any) -> 'MotionResultModel':
+        assert isinstance(obj, dict)
+        id = from_str(obj.get("id"))
+        euler = Coords.from_dict(obj.get("euler"))
+        position = Coords.from_dict(obj.get("position"))
+        return MotionResultModel(id, euler, position)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        result["id"] = from_str(self.id)
+        result["euler"] = to_class(Coords, self.euler)
+        result["position"] = to_class(Coords, self.position)
+        return result
+
+
+class SequencesEvaluation:
+    sequences: ISequencesUnion
+    assemblyDir: str
+    result: dict = {}
+
+    def __init__(self, sequences, assemblyDir) -> None:
+        self.sequences = sequences
+        self.assemblyDir = assemblyDir
+        pass
+
+    def assemblyComputed(self):
+        debug = True
+        for sequenceNumber, v in self.sequences.items():
+            for assemblyNumber, assemblySequenced in v.items():
+                # print(assemblyNumber)
+                # print()
+                # if(assemblyNumber == 1 and sequenceNumber == 4 or assemblyNumber == 1 and sequenceNumber == 0):
+                if(assemblyNumber == 1 and sequenceNumber == 1 and debug):
+                    debug = False
+                    if(sequenceNumber == 0):
+                            sequenceNumber+=1
+                    print(assemblySequenced)
+                    self.comptedAssembly(
+                                    assemblySequenced, sequenceNumber, assemblyNumber)
+
+        pass
+
+    def comptedAssembly(self, assembly: list[str], sequenceNumber: int, assemblyNumber: int):
+        assemblyParts = []
+        for counter in range(len(assembly)):
+            importObjAtPath(
+                self.assemblyDir + 'sdf/meshes/' + assembly[counter] + '.obj',
+                counter
+            )
+            assemblyParts.append({
+                "part": App.ActiveDocument.Objects[counter],
+                "name": assembly[counter]
+            })
+
+        motionResult = json.loads((open(self.assemblyDir + 'stability' + '/' + str(
+            sequenceNumber + 1) + '/' + str(assemblyNumber) + '/' + 'motion_result.json')).read())
+
+        simulatorMotionResults: list['MotionResultModel'] = []
+        for _k, v in motionResult.items():
+            simulatorMotionResults.append(MotionResultModel.from_dict(v))
+
+        for el in simulatorMotionResults:
+            for e in assemblyParts:
+                # сопоставляем детали
+                if (el.id == e.get('name')):
+                    # вычисляем центр детали для перемещения
+                    center = e.get('part').Shape.CenterOfMass
+                    # получаем центр деталей из симуляции
+                    new_center = App.Vector(el.position.vector())
+
+                    # вычисляем вектор смещения
+                    offset = new_center - center
+                    # перемещаем деталь на вектор смещения
+                    e.get('part').Placement.Base += offset
+
+        # импортируем меш связанный с зоной обьекта
+        # zonePart = importObjAtPath(self.assemblyDir + "stability/zones/meshes/zone_sub_assembly" + str(
+        #     assembly.__len__() - 1) + ".obj", len(App.ActiveDocument.Objects))
+        # получаем координаты зоны относительно детали за которой закреплена зона
+        print(assemblyNumber)
+        coords = json.loads(
+            (open(self.assemblyDir + "stability/zones/sub_assembly_coords_" + str(assemblyNumber - 1) + ".json")).read())
+        assemblyCounter = len(assemblyParts)
+        detailWhichZoneBindings = assemblyParts[assemblyCounter - 2].get(
+            'part')
+
+        detailStabilityComputed = assemblyParts[assemblyCounter - 1].get(
+            'part')
+        relativeCoordinates = coords.get('relativeCoordinates')
+
+        relativeEuler = coords.get('relativeEuler')
+
+        specificEuler = {
+            'yaw': detailWhichZoneBindings.Placement.Rotation.toEuler()[0] - relativeEuler.get('yaw'),
+            'pitch': detailWhichZoneBindings.Placement.Rotation.toEuler()[1] - relativeEuler.get('pitch'),
+            'roll': detailWhichZoneBindings.Placement.Rotation.toEuler()[2] - relativeEuler.get('roll')
+        }
+        quaternion = euler_to_quaternion(specificEuler.get(
+            'yaw'), specificEuler.get('pitch'), specificEuler.get('roll'))
+        rotation = App.Rotation(
+            quaternion[0], quaternion[1], quaternion[2], quaternion[3])
+
+        detailStabilityComputed.Placement.Rotation = rotation
+        centerVector = detailWhichZoneBindings.Shape.CenterOfMass
+        vector = App.Vector(relativeCoordinates.get(
+            'x'), relativeCoordinates.get('y'), relativeCoordinates.get('z'))
+
+        # current_center = zonePart.Shape.CenterOfMass
+        # move_vector = App.Vector(centerVector + vector) - current_center
+        # zonePart.Placement.move(move_vector)
+
+        # computedStabilityResult = computedStability(
+        #     zonePart, detailStabilityComputed)
+
+        if sequenceNumber not in self.result.keys():
+            self.result[sequenceNumber] = []
+
+        # self.result[sequenceNumber].append({
+        #     str(assemblyNumber): assembly,
+        #     "result": computedStabilityResult
+        # })
+
+        # for part in App.ActiveDocument.Objects:
+        #     App.ActiveDocument.removeObject(part.Name)
+
+
+def get_part_center(part):
+    shape = None
+    if not hasattr(part, 'Shape'):
+        shape = part.Mesh
+    if hasattr(part, 'Shape'):
+        shape = part.Shape
+
+    center = shape.BoundBox.Center
+    return App.Vector(center[0],
+                      center[1],
+                      center[2])
+
+
+def move_second_part_to_match_center(first_part, second_part):
+    first_center = get_part_center(first_part)
+    second_center = get_part_center(second_part)
+    offset = first_center - second_center
+    second_part.Placement.move(offset)
+
+
+def create(part):
+    clone = Draft.make_clone([part], forcedraft=True)
+
+    clone.Scale = App.Vector(1.30, 1.30, 1.30)
+    clone_corr = (App.Vector(0.4476673941774023, -2.109332894191716, -0.5918687740295264) -
+                  clone.Placement.Base).scale(*App.Vector(-0.25, -0.25, -0.25))
+    clone.Placement.move(clone_corr)
+    App.ActiveDocument.recompute()
+
+    return clone
 
 
 def getFullPathObj(assemblyFolder: str, name: str):
@@ -27,67 +278,128 @@ def computedStability(refElement, childElement):
         childElement.Name).getLinkedObject(True).ViewObject, 'DisplayMode', App.ActiveDocument.getObject('Common').ViewObject.DisplayMode)
     App.ActiveDocument.recompute()
     obj = App.ActiveDocument.getObjectsByLabel('Common')[0]
- 
+
     shp = obj.Shape
     bbox = shp.BoundBox
-    # Если после операции пересечения зона обьекта совпадает с зоной тестируемого обьекта то тест прошел успешно   
+    # Если после операции пересечения зона обьекта совпадает с зоной тестируемого обьекта то тест прошел успешно
     if bbox.XLength == rootElement.XLength and bbox.YLength == rootElement.YLength and rootElement.ZLength == bbox.ZLength:
         return True
     return False
 
 
+def autoStabilityZoneComputed(stepFilesPaths: list[str], directoryStableZonesPath: str):
+
+    cadObjects = []
+
+    for count in range(len(stepFilesPaths)):
+
+        importObjAtPath(stepFilesPaths[count], count)
+        cadObjects.append(App.ActiveDocument.Objects[count])
+
+    assemblesBindings = []
+
+    for increment in range(len(cadObjects)):
+        if (increment != 0):
+            detailForEvaluationZ = cadObjects[increment]
+            zoneBindingDetailZ = cadObjects[increment-1]
+            assemblesBindings.append(
+                {'zoneBindingDetail': detailForEvaluationZ, 'detailForEvaluation': zoneBindingDetailZ,  'relativeCoordinates': None, 'zonePart': None})
+    for increment in range(len(assemblesBindings)):
+
+        el = assemblesBindings[increment]
+
+        zoneBindingDetail = el.get('zoneBindingDetail')
+        zoneBindingDetailCenterVector = zoneBindingDetail.Shape.CenterOfMass
+        zoneDetail = create(el.get('detailForEvaluation'))
+
+        move_second_part_to_match_center(
+            el.get('zoneBindingDetail'), zoneDetail)
+        zoneDetail.Label = 'zone_sub_assembly' + str(increment + 1)
+
+        zoneDetail.ViewObject.ShapeColor = (0.40, 0.74, 0.71)
+        zoneDetail.ViewObject.Transparency = 50
+        zoneDetailCenterVector = el.get(
+            'detailForEvaluation').Shape.CenterOfMass
+
+        el['relativeCoordinates'] = {
+            'x': zoneBindingDetailCenterVector.x - zoneDetailCenterVector.x,
+            'y': zoneBindingDetailCenterVector.y - zoneDetailCenterVector.y,
+            'z': zoneBindingDetailCenterVector.z - zoneDetailCenterVector.z
+        }
+
+        el['relativeEuler'] = {
+            'yaw': zoneBindingDetail.Placement.Rotation.toEuler()[0] - el.get('detailForEvaluation').Placement.Rotation.toEuler()[0],
+            'pitch': zoneBindingDetail.Placement.Rotation.toEuler()[1] - el.get('detailForEvaluation').Placement.Rotation.toEuler()[1],
+            'roll': zoneBindingDetail.Placement.Rotation.toEuler()[2] - el.get('detailForEvaluation').Placement.Rotation.toEuler()[2]
+        }
+        el['zonePart'] = zoneDetail
+
+    meshesPath = directoryStableZonesPath + 'meshes/'
+    if not os.path.exists(directoryStableZonesPath):
+        os.makedirs(directoryStableZonesPath)
+    if not os.path.exists(meshesPath):
+        os.makedirs(meshesPath)
+    zonesSaved = {}
+    for counter in range(len(assemblesBindings)):
+        zoneComputed = assemblesBindings[counter]
+        mesh = zoneComputed.get('zonePart')
+        zonesSavePath = meshesPath + mesh.Label + '.obj'
+        importOBJ.export([mesh], zonesSavePath)
+        zonesSaved[mesh.Label] = 'meshes/' + mesh.Label + '.obj'
+    for counter in range(len(assemblesBindings)):
+        el = assemblesBindings[counter]
+        savePath = zonesSaved[el.get('zonePart').Label]
+        el['zonePart'] = savePath
+        el['detailForEvaluation'] = el['detailForEvaluation'].Label
+        el['zoneBindingDetail'] = el['zoneBindingDetail'].Label
+
+        json_result = json.dumps(el)
+
+        file_to_open = directoryStableZonesPath + \
+            'sub_assembly_coords_' + str(counter) + '.json'
+
+        f = open(file_to_open, 'w', )
+
+        f.write(json_result)
+        f.close()
+
+
 def main():
     App.newDocument()
-    # загрузка env интерфейса
     env = json.loads((open('./env.json')).read())
 
-    # получение пути координат файла
+    assemblyDir = env.get('aspPath')
-    coordinatesFilePath = env.get('pathToTheSimulationCoordinatesFile')
+    sequencesJSON = json.loads((open(assemblyDir + 'sequences.json')).read())
+    directoryStableZones = assemblyDir + 'stability/zones/'
 
-    # получение папки сборки
+    sequences = sequencesJSON.get('sequences')
-    assemblyFolder = env.get('generationFolder')
+    stepStructure = json.loads(
-    buildNumber = int(re.findall(r'\d', coordinatesFilePath)[0])
+        (open(assemblyDir + 'step-structure.json')).read())
 
-    # загрузка последовательности сборки ввиде списка строк деталей
+    stepFilesPaths = []
-    assemblyStructure = json.loads(
+    for step in stepStructure:
-        (open(assemblyFolder + 'step-structure.json')).read())
+        stepFilesPaths.append(assemblyDir+'sdf/meshes/' + step + '.obj')
-    # получение номера тестируемой сборки
+    if not os.path.exists(directoryStableZones):
-    assemblyNumber = int(buildNumber)
+        print('Zones not found automatic calculation started')
-    # получение тестируемой детали в сборке
+        autoStabilityZoneComputed(stepFilesPaths, directoryStableZones)
-    activeDetail = assemblyStructure[assemblyNumber]
+
-  
+    sequencesJoin = {}
-    subassemblyNotParticipatingInMarkup = assemblyStructure[0:assemblyNumber - 1]
+
-    detailOfTheMarkingZoneOfWhich = assemblyStructure[assemblyNumber - 1]
+    for arrayCounter in range(len(sequences)):
-    importObjAtPath(getFullPathObj(assemblyFolder, activeDetail))
+        for indexCounter in range(len(sequences[arrayCounter])):
-    importObjAtPath(getFullPathObj(
+            if (indexCounter != 0):
-        assemblyFolder, detailOfTheMarkingZoneOfWhich))
+                if (sequencesJoin.get(arrayCounter) == None):
-    meshMark = App.ActiveDocument.Objects[0]
+                    sequencesJoin[arrayCounter] = {
-    meshDetailOfTheMarkZone = App.ActiveDocument.Objects[1]
+                        indexCounter: sequences[arrayCounter][0:indexCounter+1]
-    meshMark.ViewObject.ShapeColor = (0.31, 0.77, 0.87)
+                    }
-    meshDetailOfTheMarkZone.ViewObject.ShapeColor = (0.68, 0.66, 0.95)
+                else:
-    for el in list(map(lambda el: getFullPathObj(assemblyFolder, el), subassemblyNotParticipatingInMarkup)):
+                    sequencesJoin[arrayCounter][indexCounter] = sequences[arrayCounter][0:indexCounter+1]
-        importObjAtPath(el)
+                    
-    for el in App.ActiveDocument.Objects[2:App.ActiveDocument.Objects.__len__()]:
+   
-        el.ViewObject.ShapeColor = (0.32, 0.05, 0.38)
+     
-    # загрузка координат
+    seqEvaluation = SequencesEvaluation(sequencesJoin, assemblyDir)
-    coordinates = json.loads((open(coordinatesFilePath)).read())
+    seqEvaluation.assemblyComputed()
-    inc = 1
+    print(seqEvaluation.result)
-    # перемещение обьектов в документе на точки стабильность полученные из pybullet
-    for el in App.ActiveDocument.Objects:
-        pos = coordinates[inc]['position']
-        qua = coordinates[inc]['quaternion']
-        new_quaternion = Quaternion(qua[0], qua[1], qua[2], qua[3])
-        rotation_matrix = new_quaternion.rotation_matrix
-        current_position = el.Placement.Base
-        new_position = App.Vector(
-            current_position.x, current_position.y, current_position.z)
-        new_placement = App.Placement(new_position, rotation_matrix)
-        el.Placement = new_placement
-        App.ActiveDocument.recompute()
-        el.Placement.move(App.Vector(pos[0], pos[1], pos[2]))
-    # вычисление стабильность
-    computedStability(meshMark, meshDetailOfTheMarkZone)
-    pass
 
 
 main()

geometric_feasibility_predicate/env.json

@@ -1,4 +1,4 @@
 {
-    "cadFilePath":"/home/idontsudo/framework/geometric_feasibility_predicate/cubes.FCStd",
+    "cadFilePath":"/home/idontsudo/framework/asp/out/disk_and_axis_n (2).FCStd",
-    "outPath":"/home/idontsudo/framework/geometric_feasibility_predicate/out/"
+    "outPath":"/home/idontsudo/framework/asp/out/"
 }

geometric_feasibility_predicate/main.py

@@ -189,7 +189,7 @@ class AdjacencyMatrix:
     @staticmethod
     def from_dict(obj: Any) -> 'AdjacencyMatrix':
         assert isinstance(obj, dict)
-        all_pars = from_list(from_str, obj.get("allPars"))
+        all_pars = from_list(from_str, obj.get("allParts"))
         first_detail = from_str(obj.get("firstDetail"))
         matrix = from_dict(lambda x: from_list(from_str, x), obj.get("matrix"))
 
@@ -197,7 +197,7 @@ class AdjacencyMatrix:
 
     def to_dict(self) -> dict:
         result: dict = {}
-        result["allPars"] = from_list(from_str, self.all_parts)
+        result["allParts"] = from_list(from_str, self.all_parts)
         result["firstDetail"] = from_str(self.first_detail)
         result["matrix"] = from_dict(
             lambda x: from_list(from_str, x), self.matrix)
@@ -449,13 +449,54 @@ class CadAdjacencyMatrix:
                         part.Shape.distToShape(nextPart.Shape)[0])
                     if (collisionResult == 0):
                         matrix[part.Label].append(nextPart.Label)
-
         return AdjacencyMatrix(all_parts=GetAllPartsLabelsUseCase(
         ).call(), first_detail=GetFirstDetailUseCase().call(),
             matrix=matrix
         )
 
 
+def reduce(function, iterable, initializer=None):
+    it = iter(iterable)
+    if initializer is None:
+        value = next(it)
+    else:
+        value = initializer
+    for element in it:
+        value = function(value, element)
+    return value
+
+
+def to_ascii_hash(text):
+    ascii_values = [ord(character) for character in text]
+    return reduce(lambda x, y: x + y, ascii_values)
+
+
+def matrixGetUniqueContact(matrix):
+
+    detailsToCheck = []
+    detailsHashCheck = {}
+    for k, v in matrix.items():
+        for el in v:
+            if (el != k):
+                hash = to_ascii_hash(k + el)
+                if (detailsHashCheck.get(hash) == None):
+                    detailsHashCheck[hash] = hash
+                    detailsToCheck.append({
+                        'child': el,
+                        'parent': k
+                    })
+    return detailsToCheck
+
+def intersectionComputed(parts):
+    App.activeDocument().addObject("Part::MultiCommon", "Common")
+    App.activeDocument().Common.Shapes = [parts[0], parts[1]]
+    App.activeDocument().getObject('Common').ViewObject.ShapeColor = getattr(parts[0].getLinkedObject(True).ViewObject, 'ShapeColor', App.activeDocument().getObject('Common').ViewObject.ShapeColor)
+    App.activeDocument().getObject('Common').ViewObject.DisplayMode = getattr(parts[0].getLinkedObject(True).ViewObject, 'DisplayMode', App.activeDocument().getObject('Common').ViewObject.DisplayMode)
+    App.ActiveDocument.recompute()
+    area = App.activeDocument().getObject('Common').Shape.Area
+    App.ActiveDocument.removeObject('Common')
+    return area
+    
 def main():
     env = FS.readJSON('env.json')
     cadFile = env['cadFilePath']
@@ -464,14 +505,34 @@ def main():
         return TypeError('CadFile not found env.json')
     App.open(u'' + cadFile)
 
-    # Получение матрицы
+    topologyMatrix = CadAdjacencyMatrix().matrixBySurfaces()
-    topologyMatrix = CadAdjacencyMatrix().primitiveMatrix()
     import json
     sequences = json.dumps({"sequences": AllSequences(
         topologyMatrix.matrix).adj_matrix_names}, ensure_ascii=False, indent=4)
+    matrix = topologyMatrix.matrix
+    contacts = matrixGetUniqueContact(matrix)
+    intersection_geometry = {
+        'status':True,
+        'recalculations':None
+    }
+    for el in contacts:
+        child = App.ActiveDocument.getObjectsByLabel(el.get('child'))[0]
+        parent =  App.ActiveDocument.getObjectsByLabel(el.get('parent'))[0]
+        area = intersectionComputed([child,parent])
+        if(area != 0.0):
+            if(intersection_geometry.get('recalculations') == None):
+                intersection_geometry['status'] = False
+                intersection_geometry['recalculations'] = []
+            intersection_geometry['recalculations'].append({
+                'area':area,
+                'connect':  el.get('child') + ' ' + el.get('parent')
+            })    
+
+           
+    FS.writeFile(json.dumps(intersection_geometry, ensure_ascii=False, indent=4), outPath, 'intersection_geometry.json')
     FS.writeFile(sequences, outPath, 'sequences.json')
     FS.writeFile(json.dumps(topologyMatrix.to_dict(),
                  ensure_ascii=False, indent=4), outPath, 'adjacency_matrix.json')
-
+ 
-
 main()
+ 

pddl/helper/fs.py

@@ -3,15 +3,15 @@ import json
 
 class FS:
     def readJSON(path:str):
-       return json.loads((open(path)).read())
+       f = open(path)
+       return json.loads((f).read())
 
     def writeFile(data, filePath, fileName):
-
         file_to_open = filePath + fileName
-
+        f = open(file_to_open, 'w')
-        f = open(file_to_open, 'w', )
-
         f.write(data)
+        f.close()
+        
     def readFile(path):
         return open(path).read()
 

pddl/main.py

@@ -5,7 +5,8 @@ from src.model.asm4_structure import Asm4Structure
 from src.usecases.assembly_to_pddl_use_case import AssemblyToPddlUseCase
  
  
-# python3 main.py --stepStructurePath /Users/idontsudo/robo/step-structure.json --outPath /Users/idontsudo/robo/pddl/out/
+# python3 main.py --stepStructurePath  --outPath /Users/idontsudo/robo/pddl/out/
+# python3 main.py --stepStructurePath /Users/idontsudo/framework/asp/out/step-structure.json --outPath  /Users/idontsudo/robo/pddl/out/
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()

stability_process_predicate/main.py

@@ -1,8 +1,7 @@
 import argparse
 from usecases.stability_check_usecase import StabilityCheckUseCase
- 
-# python3 main.py --aspPath /Users/idontsudo/framework/asp/out/ 
 
+# python3 main.py --aspPath /Users/idontsudo/framework/asp/out
 
 def main():
     parser = argparse.ArgumentParser()
@@ -10,3 +9,4 @@ def main():
     args = parser.parse_args()
     StabilityCheckUseCase().call(args.aspPath)
 main()
+ 

stability_process_predicate/usecases/stability_check_usecase.py

@@ -116,7 +116,6 @@ class StabilityCheckUseCase:
             f.write(urdf)
             f.close()
             urdfs.append(os.path.abspath(f.name))
-
         return urdfs
 
     def executeSimulation(self, assembly: list[str], outPath: str, urdfGeneration: dict[str:str], duration: int) -> list['SimulatorStabilityResultModel']:
@@ -133,7 +132,6 @@ class StabilityCheckUseCase:
         for el in urdfs:
             id = p.loadURDF(el)
             bulletIds.append(id)
-
         for i in range(duration):
             if (i + 200 == duration):
                 inc = 0